{"id":1325,"date":"2026-06-05T12:48:42","date_gmt":"2026-06-05T12:48:42","guid":{"rendered":"https:\/\/aadhuniklabs.com\/casp-blog\/?p=1325"},"modified":"2026-06-06T10:14:06","modified_gmt":"2026-06-06T10:14:06","slug":"interfacing-mpu-6050-and-mpu-9250-with-vega-aries","status":"publish","type":"post","link":"https:\/\/aadhuniklabs.com\/casp-blog\/interfacing-mpu-6050-and-mpu-9250-with-vega-aries\/","title":{"rendered":"Interfacing MPU-6050 and MPU-9250 with Vega Aries"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\">This example project demonstrates how to measure accelerometer and gyroscope values from Invensense MPU-6050 IMU using CASP. MPU-9250 (additionally with magnetometer) can also be used in similar way.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Target<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">Aries v2.0 development board is used in this project. However, any supported micro-controller board can be used.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Pre-Requisites<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li class=\"\">CASP software is installed on the host PC<\/li>\n\n\n\n<li class=\"\">Vega Aries BSP is installed.<\/li>\n\n\n\n<li class=\"\">The project files are located at CASP installed directory \u2018CASP\/support\/examples\/vega_aries_examples\/hw_interface\/05_imu_invensense\u2019. These are also available for download at this <a href=\"https:\/\/aadhuniklabs.com\/casp\/casp_web_examples\/vega_aries_examples\/hw_interface\/05_imu_invensense.zip\">link<\/a>.<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">Connection Diagram<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">IMU MPU-6050 is connected to the target board as shown in the circuit diagram. A model is developed to communicate with the IMU and read the accelerometer and gyroscope values along x, y, z axes. The measured values are then sent to the serial port for remote access from the host PC. A logic is developed such that if the IMU is kept vertical (i.e. Z value of the accelerometer is less than 100) the on-board LED is ON continuously else it blinks at 1Hz frequency.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">User can see the measured data (6 integer values) from the \u2018Configure Simulation Hardware\u2019 interface window by clicking on Simulation-&gt;Configure Simulation IO menu item from the CASP main tool bar. Please go through the individual block parameters used in the model along with respective documentation for better understanding.<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img decoding=\"async\" width=\"678\" height=\"591\" loading=\"lazy\" src=\"https:\/\/i0.wp.com\/aadhuniklabs.com\/casp-blog\/wp-content\/uploads\/2026\/06\/circuit-12.jpg?fit=678%2C591&amp;ssl=1\" alt=\"\" class=\"wp-image-1329\" srcset=\"https:\/\/i0.wp.com\/aadhuniklabs.com\/casp-blog\/wp-content\/uploads\/2026\/06\/circuit-12.jpg?w=678&amp;ssl=1 678w, https:\/\/i0.wp.com\/aadhuniklabs.com\/casp-blog\/wp-content\/uploads\/2026\/06\/circuit-12.jpg?resize=264%2C230&amp;ssl=1 264w, https:\/\/i0.wp.com\/aadhuniklabs.com\/casp-blog\/wp-content\/uploads\/2026\/06\/circuit-12.jpg?resize=138%2C120&amp;ssl=1 138w\" sizes=\"auto, (max-width: 678px) 100vw, 678px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Model<\/h2>\n\n\n\n<figure class=\"wp-block-image size-full\"><img decoding=\"async\" width=\"605\" height=\"399\" loading=\"lazy\" src=\"https:\/\/i0.wp.com\/aadhuniklabs.com\/casp-blog\/wp-content\/uploads\/2026\/06\/image002-1.jpg?fit=605%2C399&amp;ssl=1\" alt=\"\" class=\"wp-image-1331\" srcset=\"https:\/\/i0.wp.com\/aadhuniklabs.com\/casp-blog\/wp-content\/uploads\/2026\/06\/image002-1.jpg?w=605&amp;ssl=1 605w, https:\/\/i0.wp.com\/aadhuniklabs.com\/casp-blog\/wp-content\/uploads\/2026\/06\/image002-1.jpg?resize=300%2C198&amp;ssl=1 300w, https:\/\/i0.wp.com\/aadhuniklabs.com\/casp-blog\/wp-content\/uploads\/2026\/06\/image002-1.jpg?resize=150%2C99&amp;ssl=1 150w\" sizes=\"auto, (max-width: 605px) 100vw, 605px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Procedure<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li class=\"\">Connect the peripherals as shown in above connection diagram and connect the target board to the host PC.<\/li>\n\n\n\n<li class=\"\">Launch CASP and open the downloaded project.<\/li>\n\n\n\n<li class=\"\">Click \u2018Setup Simulation\u2019 to open a dialog box.<\/li>\n\n\n\n<li class=\"\">Select &#8216;Target Programmer&#8217; to &#8216;Programmer0&#8217; to upload the program to RAM or &#8216;Programmer1&#8217; to upload the program to flash memory of  the target board.<\/li>\n\n\n\n<li class=\"\">Set the &#8216;Target Programmer Port&#8217; to which the board is connected. <\/li>\n\n\n\n<li class=\"\">Save and Close the dialog box.<\/li>\n\n\n\n<li class=\"\">Click Run button to build and program the board.<\/li>\n\n\n\n<li class=\"\">The measured data is also send to the serial port. User can see the measured data from the \u2018Configure Simulation Hardware\u2019 interface window by clicking on Simulation-&gt;Configure Simulation IO menu item from the CASP main tool bar as shown in below figure. <\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-full\"><img decoding=\"async\" width=\"768\" height=\"511\" loading=\"lazy\" src=\"https:\/\/i0.wp.com\/aadhuniklabs.com\/casp-blog\/wp-content\/uploads\/2026\/06\/image003.jpg?fit=768%2C511&amp;ssl=1\" alt=\"\" class=\"wp-image-1333\" srcset=\"https:\/\/i0.wp.com\/aadhuniklabs.com\/casp-blog\/wp-content\/uploads\/2026\/06\/image003.jpg?w=768&amp;ssl=1 768w, https:\/\/i0.wp.com\/aadhuniklabs.com\/casp-blog\/wp-content\/uploads\/2026\/06\/image003.jpg?resize=300%2C200&amp;ssl=1 300w, https:\/\/i0.wp.com\/aadhuniklabs.com\/casp-blog\/wp-content\/uploads\/2026\/06\/image003.jpg?resize=150%2C100&amp;ssl=1 150w, https:\/\/i0.wp.com\/aadhuniklabs.com\/casp-blog\/wp-content\/uploads\/2026\/06\/image003.jpg?resize=272%2C182&amp;ssl=1 272w\" sizes=\"auto, (max-width: 768px) 100vw, 768px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Related Links<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li class=\"\"><a href=\"https:\/\/aadhuniklabs.com\/casp-blog\/installing-casp\/\" target=\"_blank\" rel=\"noreferrer noopener\">Installing CASP<\/a><\/li>\n\n\n\n<li class=\"\"><a href=\"https:\/\/aadhuniklabs.com\/casp-blog\/updating-casp\/\" target=\"_blank\" rel=\"noreferrer noopener\">Updating CASP<\/a><\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n","protected":false},"excerpt":{"rendered":"<p>This example project demonstrates how to measure accelerometer and gyroscope values from Invensense MPU-6050 IMU using CASP. MPU-9250 (additionally with magnetometer) can also be used in similar way. Target Aries&hellip;<\/p>\n","protected":false},"author":1,"featured_media":1329,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"nf_dc_page":"","_view_id":"","_jetpack_newsletter_access":"","_jetpack_dont_email_post_to_subs":false,"_jetpack_newsletter_tier_id":0,"_jetpack_memberships_contains_paywalled_content":false,"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[27,71,85,90],"tags":[65,40],"post_folder":[69],"class_list":["post-1325","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-examples","category-hardware-interface","category-microcontroller-boards","category-vega-aries","tag-gpio","tag-vega-aries"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.8 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Interfacing MPU-6050 and MPU-9250 with Vega Aries<\/title>\n<meta name=\"description\" content=\"This example 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